# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
-#include <simgear/route/waypoint.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
-#include <Main/viewer.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
+#include <Airports/dynamics.hxx>
+#include <Airports/simple.hxx>
#include <string>
#include <math.h>
#include <time.h>
+
#ifdef _MSC_VER
# include <float.h>
# define finite _finite
# include <ieeefp.h>
#endif
-SG_USING_STD(string);
+using std::string;
#include "AIAircraft.hxx"
-//#include <Airports/trafficcontroller.hxx>
+#include "performancedata.hxx"
+#include "performancedb.hxx"
+#include <signal.h>
-static string tempReg;
-//
-// accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
-// cruise_speed, descent_speed, land_speed
-//
+//#include <Airports/trafficcontroller.hxx>
-const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
- // light aircraft
- {2.0, 2.0, 450.0, 1000.0, 70.0, 80.0, 100.0, 80.0, 60.0},
- // ww2_fighter
- {4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
- // jet_transport
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // jet_fighter
- {7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
- // tanker
- {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
- // ufo (extreme accel/decel)
- {30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
- };
-
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
+FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+ /* HOT must be disabled for AI Aircraft,
+ * otherwise traffic detection isn't working as expected.*/
+ FGAIBase(otAircraft, false)
+{
trafficRef = ref;
- if (trafficRef)
+ if (trafficRef) {
groundOffset = trafficRef->getGroundOffset();
+ setCallSign(trafficRef->getCallSign());
+ }
else
groundOffset = 0;
- fp = 0;
- controller = 0;
- prevController = 0;
+ fp = 0;
+ controller = 0;
+ prevController = 0;
+ towerController = 0;
dt_count = 0;
dt_elev_count = 0;
use_perf_vs = true;
alt_lock = false;
roll = 0;
headingChangeRate = 0.0;
+ headingError = 0;
+ minBearing = 360;
+ speedFraction =1.0;
holdPos = false;
+ needsTaxiClearance = false;
+ _needsGroundElevation = true;
+
+ _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
+ dt = 0;
+ takeOffStatus = 0;
}
FGAIBase::readFromScenario(scFileNode);
- setPerformance(scFileNode->getStringValue("class", "jet_transport"));
+ setPerformance("", scFileNode->getStringValue("class", "jet_transport"));
setFlightPlan(scFileNode->getStringValue("flightplan"),
scFileNode->getBoolValue("repeat", false));
setCallSign(scFileNode->getStringValue("callsign"));
void FGAIAircraft::bind() {
FGAIBase::bind();
- props->tie("controls/gear/gear-down",
- SGRawValueMethods<FGAIAircraft,bool>(*this,
- &FGAIAircraft::_getGearDown));
- props->setStringValue("callsign", callsign.c_str());
+ tie("controls/gear/gear-down",
+ SGRawValueMethods<FGAIAircraft,bool>(*this,
+ &FGAIAircraft::_getGearDown));
+ tie("transponder-id",
+ SGRawValueMethods<FGAIAircraft,const char*>(*this,
+ &FGAIAircraft::_getTransponderCode));
}
-
-void FGAIAircraft::unbind() {
- FGAIBase::unbind();
-
- props->untie("controls/gear/gear-down");
-}
-
-
void FGAIAircraft::update(double dt) {
FGAIBase::update(dt);
Run(dt);
Transform();
}
-
-void FGAIAircraft::setPerformance(const std::string& acclass) {
- if (acclass == "light") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
- } else if (acclass == "ww2_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
- } else if (acclass == "jet_transport") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "jet_fighter") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
- } else if (acclass == "tanker") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- } else if (acclass == "ufo") {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
- } else {
- SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
- }
+void FGAIAircraft::setPerformance(const std::string& acType, const std::string& acclass)
+{
+ static PerformanceDB perfdb; //TODO make it a global service
+ _performance = perfdb.getDataFor(acType, acclass);
}
+#if 0
+ void FGAIAircraft::setPerformance(PerformanceData *ps) {
+ _performance = ps;
+ }
+#endif
-void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
-
- performance = ps;
-}
-
-
-void FGAIAircraft::Run(double dt) {
-
- FGAIAircraft::dt = dt;
- if (!updateTargetValues())
+ void FGAIAircraft::Run(double dt) {
+ FGAIAircraft::dt = dt;
+
+ bool outOfSight = false,
+ flightplanActive = true;
+ updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
+ if (outOfSight) {
return;
-
- if (controller) {
- controller->update(getID(),
- pos.getLatitudeDeg(),
- pos.getLongitudeDeg(),
- hdg,
- speed,
- altitude_ft, dt);
- processATC(controller->getInstruction(getID()));
- }
-
- if (no_roll) {
- adjustSpeed(groundTargetSpeed);
- } else {
- adjustSpeed(tgt_speed);
- }
-
- updatePosition();
- updateHeading();
- updateBankAngles();
- updateAltitudes();
- updateVerticalSpeed();
- matchPitchAngle();
- UpdateRadar(manager);
+ }
+
+ if (!flightplanActive) {
+ groundTargetSpeed = 0;
+ }
+
+ handleATCRequests(); // ATC also has a word to say
+ updateSecondaryTargetValues(); // target roll, vertical speed, pitch
+ updateActualState();
+ // We currently have one situation in which an AIAircraft object is used that is not attached to the
+ // AI manager. In this particular case, the AIAircraft is used to shadow the user's aircraft's behavior in the AI world.
+ // Since we perhaps don't want a radar entry of our own aircraft, the following conditional should probably be adequate
+ // enough
+ if (manager)
+ UpdateRadar(manager);
+ checkVisibility();
+ }
+
+void FGAIAircraft::checkVisibility()
+{
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ invisible = (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters);
}
+
void FGAIAircraft::AccelTo(double speed) {
tgt_speed = speed;
+ //assertSpeed(speed);
+ if (!isStationary())
+ _needsGroundElevation = true;
}
void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
// the one behind you
- FGAIFlightPlan::waypoint* prev = 0;
+ FGAIWaypoint* prev = 0;
// the one ahead
- FGAIFlightPlan::waypoint* curr = 0;
+ FGAIWaypoint* curr = 0;
// the next plus 1
- FGAIFlightPlan::waypoint* next = 0;
+ FGAIWaypoint* next = 0;
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
return;
dt_count = 0;
+ double distanceToDescent;
+ if(reachedEndOfCruise(distanceToDescent)) {
+ if (!loadNextLeg(distanceToDescent)) {
+ setDie(true);
+ return;
+ }
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+ if (!curr)
+ {
+ // Oops! FIXME
+ return;
+ }
+
if (! leadPointReached(curr)) {
controlHeading(curr);
controlSpeed(curr, next);
+
+ /*
+ if (speed < 0) {
+ cerr << getCallSign()
+ << ": verifying lead distance to waypoint : "
+ << fp->getCurrentWaypoint()->name << " "
+ << fp->getLeadDistance() << ". Distance to go "
+ << (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr))
+ << ". Target speed = "
+ << tgt_speed
+ << ". Current speed = "
+ << speed
+ << ". Minimum Bearing " << minBearing
+ << endl;
+ } */
} else {
- if (curr->finished) //end of the flight plan
+ if (curr->isFinished()) //end of the flight plan
{
if (fp->getRepeat())
fp->restart();
}
//TODO let the fp handle this (loading of next leg)
- fp->IncrementWaypoint((bool) trafficRef);
- if (!(fp->getNextWaypoint()) && trafficRef)
- loadNextLeg();
+ fp->IncrementWaypoint( trafficRef != 0 );
+ if ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
+ if (!loadNextLeg()) {
+ setDie(true);
+ return;
+ }
prev = fp->getPreviousWaypoint();
curr = fp->getCurrentWaypoint();
}
if (next) {
- fp->setLeadDistance(speed, tgt_heading, curr, next);
+ fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
}
- if (!(prev->on_ground)) // only update the tgt altitude from flightplan if not on the ground
+
+ if (!(prev->getOn_ground())) // only update the tgt altitude from flightplan if not on the ground
{
- tgt_altitude_ft = prev->altitude;
- if (curr->crossat > -1000.0) {
+ tgt_altitude_ft = prev->getAltitude();
+ if (curr->getCrossat() > -1000.0) {
use_perf_vs = false;
- tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / speed*60.0);
- tgt_altitude_ft = curr->crossat;
+ // Distance to go in meters
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
}
}
- tgt_speed = prev->speed;
+ AccelTo(prev->getSpeed());
hdg_lock = alt_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_ground();
+ }
+}
+
+double FGAIAircraft::calcVerticalSpeed(double vert_ft, double dist_m, double speed, double err)
+{
+ // err is negative when we passed too high
+ double vert_m = vert_ft * SG_FEET_TO_METER;
+ //double err_m = err * SG_FEET_TO_METER;
+ //double angle = atan2(vert_m, dist_m);
+ double speedMs = (speed * SG_NM_TO_METER) / 3600;
+ //double vs = cos(angle) * speedMs; // Now in m/s
+ double vs = 0;
+ //cerr << "Error term = " << err_m << endl;
+ if (dist_m) {
+ vs = ((vert_m) / dist_m) * speedMs;
}
+ // Convert to feet per minute
+ vs *= (SG_METER_TO_FEET * 60);
+ //if (getCallSign() == "LUFTHANSA2002")
+ //if (fabs(vs) > 100000) {
+// if (getCallSign() == "LUFTHANSA2057") {
+// cerr << getCallSign() << " " << fp->getPreviousWaypoint()->getName() << ". Alt = " << altitude_ft << " vertical dist = " << vert_m << " horiz dist = " << dist_m << " << angle = " << angle * SG_RADIANS_TO_DEGREES << " vs " << vs << " horizontal speed " << speed << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat() << endl;
+// //= (curr->getCrossat() - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+// // / 6076.0 / speed*60.0);
+// //raise(SIGSEGV);
+// }
+ return vs;
}
+void FGAIAircraft::assertSpeed(double speed)
+{
+ if ((speed < -50) || (speed > 1000)) {
+ cerr << getCallSign() << " "
+ << "Previous waypoint " << fp->getPreviousWaypoint()->getName() << " "
+ << "Departure airport " << trafficRef->getDepartureAirport() << " "
+ << "Leg " << fp->getLeg() << " "
+ << "target_speed << " << tgt_speed << " "
+ << "speedFraction << " << speedFraction << " "
+ << "Currecnt speed << " << speed << " "
+ << endl;
+ //raise(SIGSEGV);
+ }
+}
+
+
+
+void FGAIAircraft::checkTcas(void)
+{
+ if (props->getIntValue("tcas/threat-level",0)==3)
+ {
+ int RASense = props->getIntValue("tcas/ra-sense",0);
+ if ((RASense>0)&&(tgt_vs<4000))
+ // upward RA: climb!
+ tgt_vs = 4000;
+ else
+ if (RASense<0)
+ {
+ // downward RA: descend!
+ if (altitude_ft < 1000)
+ {
+ // too low: level off
+ if (tgt_vs>0)
+ tgt_vs = 0;
+ }
+ else
+ {
+ if (tgt_vs >- 4000)
+ tgt_vs = -4000;
+ }
+ }
+ }
+}
void FGAIAircraft::initializeFlightPlan() {
}
bool FGAIAircraft::_getGearDown() const {
- return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
- && (props->getFloatValue("velocities/airspeed-kt")
- < performance->land_speed*1.25));
+ return _performance->gearExtensible(this);
+}
+
+
+const char * FGAIAircraft::_getTransponderCode() const {
+ return transponderCode.c_str();
}
+// NOTE: Check whether the new (delayed leg increment code has any effect on this code.
+// Probably not, because it should only be executed after we have already passed the leg incrementing waypoint.
-void FGAIAircraft::loadNextLeg() {
+bool FGAIAircraft::loadNextLeg(double distance) {
int leg;
- if ((leg = fp->getLeg()) == 10) {
- trafficRef->next();
- leg = 1;
+ if ((leg = fp->getLeg()) == 9) {
+ if (!trafficRef->next()) {
+ return false;
+ }
+ setCallSign(trafficRef->getCallSign());
+ leg = 0;
fp->setLeg(leg);
}
} else {
double cruiseAlt = trafficRef->getCruiseAlt() * 100;
- fp->create (dep,
+ fp->create (this,
+ dep,
arr,
- leg,
- cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
+ leg+1,
+ cruiseAlt,
trafficRef->getSpeed(),
_getLatitude(),
_getLongitude(),
trafficRef->getRadius(),
trafficRef->getFlightType(),
acType,
- company);
+ company,
+ distance);
+ //cerr << "created leg " << leg << " for " << trafficRef->getCallSign() << endl;
}
+ return true;
}
void FGAIAircraft::getGroundElev(double dt) {
dt_elev_count += dt;
+ if (!needGroundElevation())
+ return;
// Update minimally every three secs, but add some randomness
- // to prevent all IA objects doing this in synchrony
+ // to prevent all AI objects doing this in synchrony
if (dt_elev_count < (3.0) + (rand() % 10))
return;
- else
- dt_elev_count = 0;
+
+ dt_elev_count = 0;
// Only do the proper hitlist stuff if we are within visible range of the viewer.
if (!invisible) {
- double visibility_meters = fgGetDouble("/environment/visibility-m");
-
- FGViewer* vw = globals->get_current_view();
- double course, distance;
-
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
- view.CourseAndDistance(current, &course, &distance);
- if (distance > visibility_meters) {
- //aip.getSGLocation()->set_cur_elev_m(aptElev);
+ double visibility_meters = fgGetDouble("/environment/visibility-m");
+ if (SGGeodesy::distanceM(globals->get_view_position(), pos) > visibility_meters) {
return;
}
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
double range = 500.0;
- if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
- // Try to shedule tiles for that position.
- globals->get_tile_mgr()->update( aip.getSGLocation(), range );
+ if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
+ {
+ double alt;
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
+ {
+ tgt_altitude_ft = alt * SG_METER_TO_FEET;
+ if (isStationary())
+ {
+ // aircraft is stationary and we obtained altitude for this spot - we're done.
+ _needsGroundElevation = false;
+ }
+ }
}
-
- // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
- double alt;
- if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
- tgt_altitude_ft = alt * SG_METER_TO_FEET;
}
}
-void FGAIAircraft::setCallSign(const string& s) {
- callsign = s;
-}
-
-
void FGAIAircraft::doGroundAltitude() {
- if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
- altitude_ft = (tgt_altitude_ft + groundOffset);
- else
- altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+ if ((fp->getLeg() == 7) && ((altitude_ft - tgt_altitude_ft) > 5)) {
+ tgt_vs = -500;
+ } else {
+ if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
+ (isStationary()))
+ altitude_ft = (tgt_altitude_ft + groundOffset);
+ else
+ altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
+ tgt_vs = 0;
+ }
}
if (trafficRef) {
int leg = fp->getLeg();
- // Note that leg was been incremented after creating the current leg, so we should use
+ // Note that leg has been incremented after creating the current leg, so we should use
// leg numbers here that are one higher than the number that is used to create the leg
- //
+ // NOTE: As of July, 30, 2011, the post-creation leg updating is no longer happening.
+ // Leg numbers are updated only once the aircraft passes the last waypoint created for that legm so I should probably just use
+ // the original leg numbers here!
switch (leg) {
- case 3: // Taxiing to runway
+ case 1: // Startup and Push back
+ if (trafficRef->getDepartureAirport()->getDynamics())
+ controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
+ break;
+ case 2: // Taxiing to runway
if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
break;
- case 4: //Take off tower controller
+ case 3: //Take off tower controller
if (trafficRef->getDepartureAirport()->getDynamics()) {
controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
- //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
- //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
- // << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
- // if (controller == 0) {
- //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
- //}
-
+ towerController = 0;
} else {
cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
}
break;
- case 9: // Taxiing for parking
+ case 6:
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
+ }
+ break;
+ case 8: // Taxiing for parking
if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
break;
if ((controller != prevController) && (prevController != 0)) {
prevController->signOff(getID());
- string callsign = trafficRef->getCallSign();
- if ( trafficRef->getHeavy())
- callsign += "Heavy";
- switch (leg) {
- case 3:
- //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
- break;
- case 4:
- //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
- // << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
- // << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
- break;
- }
}
prevController = controller;
if (controller) {
- controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
+ controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
_getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
- trafficRef->getRadius(), leg, trafficRef->getCallSign());
+ trafficRef->getRadius(), leg, this);
+ }
+ }
+}
+
+void FGAIAircraft::scheduleForATCTowerDepartureControl(int state) {
+ if (!takeOffStatus) {
+ int leg = fp->getLeg();
+ if (trafficRef) {
+ if (trafficRef->getDepartureAirport()->getDynamics()) {
+ towerController = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
+ } else {
+ cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
+ }
+ if (towerController) {
+ towerController->announcePosition(getID(), fp, fp->getCurrentWaypoint()->getRouteIndex(),
+ _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
+ trafficRef->getRadius(), leg, this);
+ //cerr << "Scheduling " << trafficRef->getCallSign() << " for takeoff " << endl;
+ }
}
}
+ takeOffStatus = state;
}
+// Process ATC instructions and report back
void FGAIAircraft::processATC(FGATCInstruction instruction) {
+ if (instruction.getCheckForCircularWait()) {
+ // This is not exactly an elegant solution,
+ // but at least it gives me a chance to check
+ // if circular waits are resolved.
+ // For now, just take the offending aircraft
+ // out of the scene
+ setDie(true);
+ // a more proper way should be - of course - to
+ // let an offending aircraft take an evasive action
+ // for instance taxi back a little bit.
+ }
//cerr << "Processing ATC instruction (not Implimented yet)" << endl;
if (instruction.getHoldPattern ()) {}
} else {
if (holdPos) {
//if (trafficRef)
- // cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
+ // cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
holdPos = false;
}
// Change speed Instruction. This can only be excecuted when there is no
//cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
AccelTo(instruction.getSpeed());
} else {
- if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
+ if (fp) AccelTo(fp->getPreviousWaypoint()->getSpeed());
}
}
if (instruction.getChangeHeading ()) {
void FGAIAircraft::handleFirstWaypoint() {
bool eraseWaypoints; //TODO YAGNI
+ headingError = 0;
if (trafficRef) {
eraseWaypoints = true;
} else {
eraseWaypoints = false;
}
- FGAIFlightPlan::waypoint* prev = 0; // the one behind you
- FGAIFlightPlan::waypoint* curr = 0; // the one ahead
- FGAIFlightPlan::waypoint* next = 0;// the next plus 1
+ FGAIWaypoint* prev = 0; // the one behind you
+ FGAIWaypoint* curr = 0; // the one ahead
+ FGAIWaypoint* next = 0;// the next plus 1
spinCounter = 0;
- tempReg = "";
//TODO fp should handle this
fp->IncrementWaypoint(eraseWaypoints);
if (!(fp->getNextWaypoint()) && trafficRef)
- loadNextLeg();
+ if (!loadNextLeg()) {
+ setDie(true);
+ return;
+ }
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
- setLatitude(prev->latitude);
- setLongitude(prev->longitude);
- setSpeed(prev->speed);
- setAltitude(prev->altitude);
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ setSpeed(prev->getSpeed());
+ setAltitude(prev->getAltitude());
- if (prev->speed > 0.0)
- setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
+ if (prev->getSpeed() > 0.0)
+ setHeading(fp->getBearing(prev->getLatitude(), prev->getLongitude(), curr));
else
- setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
+ setHeading(fp->getBearing(curr->getLatitude(), curr->getLongitude(), prev));
// If next doesn't exist, as in incrementally created flightplans for
// AI/Trafficmanager created plans,
if (next)
fp->setLeadDistance(speed, hdg, curr, next);
- if (curr->crossat > -1000.0) //use a calculated descent/climb rate
+ if (curr->getCrossat() > -1000.0) //use a calculated descent/climb rate
{
use_perf_vs = false;
- tgt_vs = (curr->crossat - prev->altitude)
- / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
- / 6076.0 / prev->speed*60.0);
- tgt_altitude_ft = curr->crossat;
+ //tgt_vs = (curr->getCrossat() - prev->getAltitude())
+ // / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
+ // / 6076.0 / prev->getSpeed()*60.0);
+ double vert_dist_ft = curr->getCrossat() - altitude_ft;
+ double err_dist = prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ checkTcas();
+ tgt_altitude_ft = curr->getCrossat();
} else {
use_perf_vs = true;
- tgt_altitude_ft = prev->altitude;
+ tgt_altitude_ft = prev->getAltitude();
}
alt_lock = hdg_lock = true;
- no_roll = prev->on_ground;
+ no_roll = prev->getOn_ground();
if (no_roll) {
Transform(); // make sure aip is initialized.
getGroundElev(60.1); // make sure it's executed first time around, so force a large dt value
doGroundAltitude();
+ _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
}
// Make sure to announce the aircraft's position
announcePositionToController();
* @param curr
* @return
*/
-bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
+bool FGAIAircraft::leadPointReached(FGAIWaypoint* curr) {
double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "2" << endl;
double lead_dist = fp->getLeadDistance();
- //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
// experimental: Use fabs, because speed can be negative (I hope) during push_back.
-
+ if ((dist_to_go < fabs(10.0* speed)) && (speed < 0) && (tgt_speed < 0) && fp->getCurrentWaypoint()->contains("PushBackPoint")) {
+ tgt_speed = -(dist_to_go / 10.0);
+ if (tgt_speed > -0.5) {
+ tgt_speed = -0.5;
+ }
+ //assertSpeed(tgt_speed);
+ if (fp->getPreviousWaypoint()->getSpeed() < tgt_speed) {
+ fp->getPreviousWaypoint()->setSpeed(tgt_speed);
+ }
+ }
if (lead_dist < fabs(2*speed)) {
//don't skip over the waypoint
lead_dist = fabs(2*speed);
}
//prev_dist_to_go = dist_to_go;
- return dist_to_go < lead_dist;
+ //if (dist_to_go < lead_dist)
+ // cerr << trafficRef->getCallSign() << " Distance : "
+ // << dist_to_go << ": Lead distance "
+ // << lead_dist << " " << curr->name
+ // << " Ground target speed " << groundTargetSpeed << endl;
+ double bearing = 0;
+ // don't do bearing calculations for ground traffic
+ bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
+ if (bearing < minBearing) {
+ minBearing = bearing;
+ if (minBearing < 10) {
+ minBearing = 10;
+ }
+ if ((minBearing < 360.0) && (minBearing > 10.0)) {
+ speedFraction = 0.5 + (cos(minBearing *SG_DEGREES_TO_RADIANS) * 0.5);
+ } else {
+ speedFraction = 1.0;
+ }
+ }
+ if (trafficRef) {
+ //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
+ //if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ //cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
+ // << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->getName() << " " << vs << " " << //tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
+ //}
+ }
+ if ((dist_to_go < lead_dist) ||
+ ((dist_to_go > prev_dist_to_go) && (bearing > (minBearing * 1.1))) ) {
+ minBearing = 360;
+ speedFraction = 1.0;
+ prev_dist_to_go = HUGE_VAL;
+ return true;
+ } else {
+ prev_dist_to_go = dist_to_go;
+ return false;
+ }
}
-bool FGAIAircraft::aiTrafficVisible() {
- double userLatitude = fgGetDouble("/position/latitude-deg");
- double userLongitude = fgGetDouble("/position/longitude-deg");
- double course, distance;
-
- SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
- SGWayPoint user (userLongitude, userLatitude, 0);
-
- user.CourseAndDistance(current, &course, &distance);
-
- return ((distance * SG_METER_TO_NM) <= TRAFFICTOAIDIST);
+bool FGAIAircraft::aiTrafficVisible()
+{
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+ const double d2 = (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER) *
+ (TRAFFICTOAIDISTTODIE * SG_NM_TO_METER);
+ return (distSqr(cartPos, globals->get_aircraft_position_cart()) < d2);
}
*/
//TODO the trafficRef is the right place for the method
-bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
+bool FGAIAircraft::handleAirportEndPoints(FGAIWaypoint* prev, time_t now) {
// prepare routing from one airport to another
FGAirport * dep = trafficRef->getDepartureAirport();
FGAirport * arr = trafficRef->getArrivalAirport();
// This waypoint marks the fact that the aircraft has passed the initial taxi
// departure waypoint, so it can release the parking.
- if (prev->name == "park2") {
+ //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
+ //cerr << "Passing waypoint : " << prev->getName() << endl;
+ if (prev->contains("PushBackPoint")) {
dep->getDynamics()->releaseParking(fp->getGate());
- cerr << trafficRef->getCallSign() << "releasing parking " << fp->getGate() << endl;
+ AccelTo(0.0);
+ //setTaxiClearanceRequest(true);
}
-
+ if (prev->contains("legend")) {
+ fp->incrementLeg();
+ }
+ if (prev->contains(string("DepartureHold"))) {
+ //cerr << "Passing point DepartureHold" << endl;
+ scheduleForATCTowerDepartureControl(1);
+ }
+ if (prev->contains(string("Accel"))) {
+ takeOffStatus = 3;
+ }
+ //if (prev->contains(string("landing"))) {
+ // if (speed < _performance->vTaxi() * 2) {
+ // fp->shortenToFirst(2, "legend");
+ // }
+ //}
+ //if (prev->contains(string("final"))) {
+ //
+ // cerr << getCallSign() << " "
+ // << fp->getPreviousWaypoint()->getName()
+ // << ". Alt = " << altitude_ft
+ // << " vs " << vs
+ // << " horizontal speed " << speed
+ // << "Previous crossAT " << fp->getPreviousWaypoint()->getCrossat()
+ // << "Airport elevation" << getTrafficRef()->getArrivalAirport()->getElevation()
+ // << "Altitude difference " << (altitude_ft - fp->getPreviousWaypoint()->getCrossat()) << endl;
+ //q}
// This is the last taxi waypoint, and marks the the end of the flight plan
// so, the schedule should update and wait for the next departure time.
- if (prev->name == "END") {
+ if (prev->contains("END")) {
time_t nextDeparture = trafficRef->getDepartureTime();
// make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
if (nextDeparture < (now+1200)) {
nextDeparture = now + 1200;
}
- fp->setTime(nextDeparture); // should be "next departure"
+ fp->setTime(nextDeparture);
}
return true;
*
* @param curr
*/
-void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
+void FGAIAircraft::controlHeading(FGAIWaypoint* curr) {
double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
//cerr << "Bearing = " << calc_bearing << endl;
if (speed < 0) {
if (finite(calc_bearing)) {
double hdg_error = calc_bearing - tgt_heading;
- if (fabs(hdg_error) > 1.0) {
+ if (fabs(hdg_error) > 0.01) {
TurnTo( calc_bearing );
}
cerr << "calc_bearing is not a finite number : "
<< "Speed " << speed
<< "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
- << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
- cerr << "waypoint name " << curr->name;
- exit(1); // FIXME
+ << ", waypoint: " << curr->getLatitude() << ", " << curr->getLongitude() << endl;
+ cerr << "waypoint name: '" << curr->getName() << "'" << endl;
+ //exit(1); // FIXME
}
}
* @param curr
* @param next
*/
-void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
+void FGAIAircraft::controlSpeed(FGAIWaypoint* curr, FGAIWaypoint* next) {
double speed_diff = speed - prevSpeed;
if (fabs(speed_diff) > 10) {
prevSpeed = speed;
- fp->setLeadDistance(speed, tgt_heading, curr, next);
+ //assertSpeed(speed);
+ if (next) {
+ fp->setLeadDistance(speed, tgt_heading, curr, next);
+ }
}
}
/**
* Update target values (heading, alt, speed) depending on flight plan or control properties
*/
-bool FGAIAircraft::updateTargetValues() {
+void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
if (fp) // AI object has a flightplan
{
//TODO make this a function of AIBase
time_t now = time(NULL) + fgGetLong("/sim/time/warp");
//cerr << "UpateTArgetValues() " << endl;
ProcessFlightPlan(dt, now);
- if (! fp->isActive(now)) {
- // Do execute Ground elev for inactive aircraft, so they
- // Are repositioned to the correct ground altitude when the user flies within visibility range.
- // In addition, check whether we are out of user range, so this aircraft
- // can be deleted.
- if (no_roll) {
+
+ // Do execute Ground elev for inactive aircraft, so they
+ // Are repositioned to the correct ground altitude when the user flies within visibility range.
+ // In addition, check whether we are out of user range, so this aircraft
+ // can be deleted.
+ if (onGround()) {
Transform(); // make sure aip is initialized.
- if (trafficRef) {
- //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
- if (! aiTrafficVisible()) {
- setDie(true);
- return false;
- }
- getGroundElev(dt);
- doGroundAltitude();
- // Transform();
- pos.setElevationFt(altitude_ft);
- }
+ getGroundElev(dt);
+ doGroundAltitude();
+ // Transform();
+ pos.setElevationFt(altitude_ft);
+ }
+ if (trafficRef) {
+ //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
+ aiOutOfSight = !aiTrafficVisible();
+ if (aiOutOfSight) {
+ setDie(true);
+ //cerr << trafficRef->getRegistration() << " is set to die " << endl;
+ aiOutOfSight = true;
+ return;
}
- return false;
}
- }
- else {
+ timeElapsed = now - fp->getStartTime();
+ flightplanActive = fp->isActive(now);
+ } else {
// no flight plan, update target heading, speed, and altitude
// from control properties. These default to the initial
// settings in the config file, but can be changed "on the
AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
}
- return true;
-}
-
-
-/**
- * Adjust the speed (accelerate/decelerate) to tgt_speed.
- */
-void FGAIAircraft::adjustSpeed(double tgt_speed) {
- double speed_diff = tgt_speed - speed;
- speed_diff = groundTargetSpeed - speed;
-
- if (speed_diff > 0.0) // need to accelerate
- {
- speed += performance->accel * dt;
- if ( speed > tgt_speed )
- speed = tgt_speed;
-
- } else if (speed_diff < 0.0) {
- if (no_roll) {
- // on ground (aircraft can't roll)
- // deceleration performance is better due to wheel brakes.
- speed -= performance->decel * dt * 3;
- } else {
- speed -= performance->decel * dt;
- }
-
- if ( speed < tgt_speed )
- speed = tgt_speed;
-
- }
}
-
void FGAIAircraft::updatePosition() {
// convert speed to degrees per second
double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
//else
// turnConstant = 0.088362;
// If on ground, calculate heading change directly
- if (no_roll) {
+ if (onGround()) {
double headingDiff = fabs(hdg-tgt_heading);
+// double bank_sense = 0.0;
+ /*
+ double diff = fabs(hdg - tgt_heading);
+ if (diff > 180)
+ diff = fabs(diff - 360);
+ double sum = hdg + diff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) < 1.0) {
+ bank_sense = 1.0; // right turn
+ } else {
+ bank_sense = -1.0; // left turn
+ }*/
if (headingDiff > 180)
headingDiff = fabs(headingDiff - 360);
-
- groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
+ double sum = hdg + headingDiff;
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading) > 0.0001) {
+// bank_sense = -1.0;
+ } else {
+// bank_sense = 1.0;
+ }
+ //if (trafficRef)
+ // cerr << trafficRef->getCallSign() << " Heading "
+ // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
+ //if (headingDiff > 60) {
+ groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
+ //assertSpeed(groundTargetSpeed);
+ //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
+ //} else {
+ // groundTargetSpeed = tgt_speed;
+ //}
if (sign(groundTargetSpeed) != sign(tgt_speed))
groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
-
- if (headingDiff > 30.0) {
- // invert if pushed backward
- headingChangeRate += dt * sign(roll);
-
- if (headingChangeRate > 30)
- headingChangeRate = 30;
- else if (headingChangeRate < -30)
- headingChangeRate = -30;
-
- } else {
- if (fabs(headingChangeRate) > headingDiff)
- headingChangeRate = headingDiff*sign(roll);
- else
- headingChangeRate += dt * sign(roll);
+ //assertSpeed(groundTargetSpeed);
+ // Only update the target values when we're not moving because otherwise we might introduce an enormous target change rate while waiting a the gate, or holding.
+ if (speed != 0) {
+ if (headingDiff > 30.0) {
+ // invert if pushed backward
+ headingChangeRate += 10.0 * dt * sign(roll);
+
+ // Clamp the maximum steering rate to 30 degrees per second,
+ // But only do this when the heading error is decreasing.
+ if ((headingDiff < headingError)) {
+ if (headingChangeRate > 30)
+ headingChangeRate = 30;
+ else if (headingChangeRate < -30)
+ headingChangeRate = -30;
+ }
+ } else {
+ if (speed != 0) {
+ if (fabs(headingChangeRate) > headingDiff)
+ headingChangeRate = headingDiff*sign(roll);
+ else
+ headingChangeRate += dt * sign(roll);
+ }
+ }
+ }
+ if (trafficRef)
+ //cerr << trafficRef->getCallSign() << " Heading "
+ // << hdg << ". Target " << tgt_heading << ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << "Heading change rate : " << headingChangeRate << " bacnk sence " << bank_sense << endl;
+ hdg += headingChangeRate * dt * sqrt(fabs(speed) / 15);
+ headingError = headingDiff;
+ if (fabs(headingError) < 1.0) {
+ hdg = tgt_heading;
}
- hdg += headingChangeRate * dt;
} else {
if (fabs(speed) > 1.0) {
turn_radius_ft = 0.088362 * speed * speed
}
-void FGAIAircraft::updateBankAngles() {
+void FGAIAircraft::updateBankAngleTarget() {
// adjust target bank angle if heading lock engaged
if (hdg_lock) {
double bank_sense = 0.0;
} else {
bank_sense = -1.0; // left turn
}
- if (diff < 30) {
+ if (diff < _performance->maximumBankAngle()) {
tgt_roll = diff * bank_sense;
} else {
- tgt_roll = 30.0 * bank_sense;
+ tgt_roll = _performance->maximumBankAngle() * bank_sense;
}
- if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
+ if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
// The only way to resolve this is to make them slow down.
}
}
-
- // adjust bank angle, use 9 degrees per second
- double bank_diff = tgt_roll - roll;
- if (fabs(bank_diff) > 0.2) {
- if (bank_diff > 0.0)
- roll += 9.0 * dt;
-
- if (bank_diff < 0.0)
- roll -= 9.0 * dt;
- //while (roll > 180) roll -= 360;
- //while (roll < 180) roll += 360;
- }
}
-void FGAIAircraft::updateAltitudes() {
- // adjust altitude (meters) based on current vertical speed (fpm)
- altitude_ft += vs / 60.0 * dt;
- pos.setElevationFt(altitude_ft);
-
+void FGAIAircraft::updateVerticalSpeedTarget() {
// adjust target Altitude, based on ground elevation when on ground
- if (no_roll) {
+ if (onGround()) {
getGroundElev(dt);
doGroundAltitude();
- } else {
- // find target vertical speed if altitude lock engaged
- if (alt_lock && use_perf_vs) {
+ } else if (alt_lock) {
+ // find target vertical speed
+ if (use_perf_vs) {
if (altitude_ft < tgt_altitude_ft) {
tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs > performance->climb_rate)
- tgt_vs = performance->climb_rate;
+ if (tgt_vs > _performance->climbRate())
+ tgt_vs = _performance->climbRate();
} else {
tgt_vs = tgt_altitude_ft - altitude_ft;
- if (tgt_vs < (-performance->descent_rate))
- tgt_vs = -performance->descent_rate;
+ if (tgt_vs < (-_performance->descentRate()))
+ tgt_vs = -_performance->descentRate();
}
- }
-
- if (alt_lock && !use_perf_vs) {
- double max_vs = 4*(tgt_altitude_ft - altitude_ft);
+ } else {
+ double vert_dist_ft = fp->getCurrentWaypoint()->getCrossat() - altitude_ft;
+ double err_dist = 0; //prev->getCrossat() - altitude_ft;
+ double dist_m = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), fp->getCurrentWaypoint());
+ tgt_vs = calcVerticalSpeed(vert_dist_ft, dist_m, speed, err_dist);
+ //cerr << "Target vs before : " << tgt_vs;
+/* double max_vs = 10*(tgt_altitude_ft - altitude_ft);
double min_vs = 100;
if (tgt_altitude_ft < altitude_ft)
min_vs = -100.0;
tgt_vs = max_vs;
if (fabs(tgt_vs) < fabs(min_vs))
- tgt_vs = min_vs;
+ tgt_vs = min_vs;*/
+ //cerr << "target vs : after " << tgt_vs << endl;
}
- }
+ } //else
+ // tgt_vs = 0.0;
+ checkTcas();
}
+void FGAIAircraft::updatePitchAngleTarget() {
+ // if on ground and above vRotate -> initial rotation
+ if (onGround() && (speed > _performance->vRotate()))
+ tgt_pitch = 8.0; // some rough B737 value
-void FGAIAircraft::updateVerticalSpeed() {
- // adjust vertical speed
- double vs_diff = tgt_vs - vs;
- if (fabs(vs_diff) > 10.0) {
- if (vs_diff > 0.0) {
- vs += (performance->climb_rate / 3.0) * dt;
+ //TODO pitch angle on approach and landing
+
+ // match pitch angle to vertical speed
+ else if (tgt_vs > 0) {
+ tgt_pitch = tgt_vs * 0.005;
+ } else {
+ tgt_pitch = tgt_vs * 0.002;
+ }
+}
- if (vs > tgt_vs)
- vs = tgt_vs;
- } else {
- vs -= (performance->descent_rate / 3.0) * dt;
+string FGAIAircraft::atGate() {
+ string tmp("");
+ if (fp->getLeg() < 3) {
+ if (trafficRef) {
+ if (fp->getGate() > 0) {
+ FGParking *park =
+ trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
+ tmp = park->getName();
+ }
+ }
+ }
+ return tmp;
+}
- if (vs < tgt_vs)
- vs = tgt_vs;
- }
+void FGAIAircraft::handleATCRequests() {
+ //TODO implement NullController for having no ATC to save the conditionals
+ if (controller) {
+ controller->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
+ processATC(controller->getInstruction(getID()));
+ }
+ if (towerController) {
+ towerController->updateAircraftInformation(getID(),
+ pos.getLatitudeDeg(),
+ pos.getLongitudeDeg(),
+ hdg,
+ speed,
+ altitude_ft, dt);
}
}
+void FGAIAircraft::updateActualState() {
+ //update current state
+ //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
+ updatePosition();
-void FGAIAircraft::matchPitchAngle() {
- // match pitch angle to vertical speed
- if (vs > 0) {
- pitch = vs * 0.005;
+ if (onGround())
+ speed = _performance->actualSpeed(this, groundTargetSpeed, dt, holdPos);
+ else
+ speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt, false);
+ //assertSpeed(speed);
+ updateHeading();
+ roll = _performance->actualBankAngle(this, tgt_roll, dt);
+
+ // adjust altitude (meters) based on current vertical speed (fpm)
+ altitude_ft += vs / 60.0 * dt;
+ pos.setElevationFt(altitude_ft);
+
+ vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
+ pitch = _performance->actualPitch(this, tgt_pitch, dt);
+}
+
+void FGAIAircraft::updateSecondaryTargetValues() {
+ // derived target state values
+ updateBankAngleTarget();
+ updateVerticalSpeedTarget();
+ updatePitchAngleTarget();
+
+ //TODO calculate wind correction angle (tgt_yaw)
+}
+
+
+bool FGAIAircraft::reachedEndOfCruise(double &distance) {
+ FGAIWaypoint* curr = fp->getCurrentWaypoint();
+ if (curr->getName() == string("BOD")) {
+ double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0; // convert from kts to meter/s
+ double descentRate = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0; // convert from feet/min to meter/s
+
+ double verticalDistance = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
+ double descentTimeNeeded = verticalDistance / descentRate;
+ double distanceCovered = descentSpeed * descentTimeNeeded;
+
+ //cerr << "Tracking : " << fgGetString("/ai/track-callsign");
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
+ cerr << "Descent rate : " << descentRate << endl;
+ cerr << "Descent speed : " << descentSpeed << endl;
+ cerr << "VerticalDistance : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
+ cerr << "DecentTimeNeeded : " << descentTimeNeeded << endl;
+ cerr << "DistanceCovered : " << distanceCovered << endl;
+ }
+ //cerr << "Distance = " << distance << endl;
+ distance = distanceCovered;
+ if (dist < distanceCovered) {
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ //exit(1);
+ }
+ return true;
+ } else {
+ return false;
+ }
} else {
- pitch = vs * 0.002;
+ return false;
}
}
+
+void FGAIAircraft::resetPositionFromFlightPlan()
+{
+ // the one behind you
+ FGAIWaypoint* prev = 0;
+ // the one ahead
+ FGAIWaypoint* curr = 0;
+ // the next plus 1
+ FGAIWaypoint* next = 0;
+
+ prev = fp->getPreviousWaypoint();
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+
+ setLatitude(prev->getLatitude());
+ setLongitude(prev->getLongitude());
+ double tgt_heading = fp->getBearing(curr, next);
+ setHeading(tgt_heading);
+ setAltitude(prev->getAltitude());
+ setSpeed(prev->getSpeed());
+}
+
+double FGAIAircraft::getBearing(double crse)
+{
+ double hdgDiff = fabs(hdg-crse);
+ if (hdgDiff > 180)
+ hdgDiff = fabs(hdgDiff - 360);
+ return hdgDiff;
+}
+
+time_t FGAIAircraft::checkForArrivalTime(string wptName) {
+ FGAIWaypoint* curr = 0;
+ curr = fp->getCurrentWaypoint();
+
+ double tracklength = fp->checkTrackLength(wptName);
+ if (tracklength > 0.1) {
+ tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
+ } else {
+ return 0;
+ }
+ time_t now = time(NULL) + fgGetLong("/sim/time/warp");
+ time_t arrivalTime = fp->getArrivalTime();
+
+ time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
+ time_t secondsToGo = arrivalTime - now;
+ if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
+ cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
+ }
+ return (ete - secondsToGo); // Positive when we're too slow...
+}
projects / flightgear.git / blobdiff